Control system for adjustable damping force

ABSTRACT

Upon searching control parameter used to adjust damping force of a damper from a map in accordance with damper speed and target damping force decided based on moving condition of the vehicle, the map sets the control parameter, which are relatively higher than the actual damping force characteristics, as map data in the area where the damper speed is less than a predetermined value, the area where the noise has the great influence on the sensor outputs. Therefore, it can be prevented that the control parameter of the damping force is varied largely or varied in a short period by the influence of noise, and the driving stability control of the vehicle can be executed exactly and the noise caused by switching the damping force of the damper can be reduced.

The present invention claims foreign priority to Japanese patentapplication No. P.2005-098165, filed on Mar. 30, 2005, the contents ofwhich is incorporated herein by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a control system for a adjustabledamping force, which controls variably an adjustable damping force of adamper provided to a suspension apparatus of a vehicle in response to amoving condition of the vehicle.

2. Description of the Background Art

In Japanese Patent Unexamined Publication No. JP-A-60-113711, theadjustable damping force in which MRF (Magneto-Rheological Fluids),whose viscosity is changed by applying a magnetic field, is employed asa viscous fluid of the adjustable damping force for the suspensionapparatus and also a coil used to apply the magnetic field to themagneto-rheological fluids in the fluid passage is provided to a piston,which is slidably fitted into a cylinder, is known. According to thisadjustable damping force, an damping force of this damper can becontrolled arbitrarily by changing a viscosity of themagneto-rheological fluids in the fluid passage by applying the magneticfield generated by supplying an electric current to the coil.

An damping force generated by a adjustable damping force set forth inJapanese Patent Unexamined Publication No. JP-A-60-113711 is changed bya current supplied to a coil of the damper. When the driving stabilitycontrol to suppress a rolling and a pitching of the vehicle by changingan damping force of the damper is to be carried out, a target dampingforce that is proportional to a rate of change in a lateral accelerationand a rate of change in a longitudinal acceleration of the vehiclesensed by a sensor with respect to time is calculated. Then, a currentvalue to be supplied to the coil of the damper is searched from a mapusing this target damping force and a damper speed as parameters.

Meanwhile, it is inevitable that the noise is superposed on outputs ofthe sensors that sense the lateral acceleration and the longitudinalacceleration of the vehicle to calculate the target damping force of thedamper. When the output of the sensor is large, an occupied rate ofnoise is small and the influence of noise is negligible. But an outputitself of the sensor is small when the vehicle goes straight on at aconstant speed, a occupied rate of noise in the sensor output isincreased. In this manner, when a sensing precision of the lateralacceleration and the longitudinal acceleration sensed by the sensors islowered by the noise, it is possible that a precision of the targetdamping force of the damper is lowered and then the driving stabilitycontrol cannot be exactly executed.

SUMMARY OF THE INVENTION

The present invention has been made in light of the above circumstances,and it is an object of the present invention to suppress an influence ofnoises on outputs of sensors, which sense a moving condition of avehicle, to the lowest minimum to control an damping force of a damperin a suspension system.

In order to achieve the above object, according to a first aspect of thepresent invention, there is provided a control system for a adjustabledamping force, comprising:

a damper provided on a suspension apparatus of a vehicle;

a damper speed sensor detecting speed of the damper;

a moving condition sensor detecting moving condition of the vehicle; and

a control unit determining target damping force in accordance with themoving condition, determining control parameter based the damper speedand the target damping force by using a map, and outputting the controlparameter so as to adjust damping force of the damper,

wherein the map is set so as to satisfy following conditions to therebyperform stable control of the damping force when the damper speed is notmore than a predetermined value:

when the damper speed is constant value and is not more than thepredetermined value, the control parameter is increased with gradient Aas the target damping force is increased;

when the damper speed is constant value and is more than thepredetermined value, the control parameter is increased with gradient Bas the target damping force is increased, wherein the gradient A islarger than the gradient B; and

when the target damping force is constant, the control parameter isdecreased as the damper speed is increased.

According to a second aspect of the present invention, as set forth inthe first aspect of the present invention, it is preferable that the mapis set in such a manner that when the damper speed is not more than thepredetermined value, the control parameter depends on the target dampingforce and the control parameter does not depend on the damper speed.

According to a third aspect of the present invention, as set forth inthe first aspect of the present invention, it is preferable that thegradient A and B are positive values.

According to a fourth aspect of the present invention, as set forth inthe first aspect of the present invention, it is preferable that thegradient A and B are variable relative to the damper speed and/or thetarget damping force.

According to a fifth aspect of the present invention, there is provideda control method for controlling damping force of a damper provided on asuspension apparatus of a vehicle, comprising the steps of:

determining target damping force based on a moving condition of avehicle;

detecting damper speed;

determining control parameter of the damper based on the damper speedand the target damping force by using a map so as to adjust the dampingforce of the damper; and

outputting the damping force to the damper,

wherein the map is set so as to satisfy following conditions to therebyperform stable control of the damping force when the damper speed is notmore than a predetermined value:

when the damper speed is constant value and is not more than thepredetermined value, the control parameter is increased with gradient Aas the target damping force is increased;

when the damper speed is constant value and is more than thepredetermined value, the control parameter is increased with gradient Bas the target damping force is increased, wherein the gradient A islarger than the gradient B; and

when the target damping force is constant, the control parameter isdecreased as the damper speed is increased.

According to a sixth aspect of the present invention, as set forth inthe fifth aspect of the present invention, it is preferable that the mapis set in such a manner that when the damper speed is not more than thepredetermined value, the control parameter depends on the target dampingforce and the control parameter does not depend on the damper speed.

According to a seventh aspect of the present invention, as set forth inthe fifth aspect of the present invention, it is preferable that thegradient A and B are positive values.

According to an eighth aspect of the present invention, as set forth inthe fifth aspect of the present invention, it is preferable that thegradient A and B are variable relative to the damper speed and/or thetarget damping force.

In this case, the lateral acceleration sensor Sc and the vehicular speedsensor Sd in the embodiment correspond to the sensors that sense themoving condition of the vehicle of the present invention.

According to a configuration of the present invention, in searching thecontrol parameter used to adjust the damping force of the damperprovided to the suspension system of the vehicle from the map by usingthe damper speed and the target damping force decided based onrespective outputs of the sensors that sense the moving condition of thevehicle, the map sets the values, which are relatively higher than theactual damping force characteristics, as map data in the area where thedamper speed is less than a predetermined value, i.e., the area wherethe noise has the great influence on the sensor outputs. Therefore, thecontrol parameter obtained by the map search can be set relatively low,it can be prevented that the control parameter of the damping force ofthe damper is varied largely or varied in a short period by theinfluence of noise, and the driving stability control of the vehicle canbe executed exactly and the noise cause by switching the damping forceof the damper can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a front view of a suspension system of a vehicle;

FIG. 2 is an enlarged sectional view of a adjustable damping force;

FIG. 3 is a flowchart of damping force control of the damper;

FIG. 4 is a map used to search target current based on damper speed andtarget damping force; and

FIG. 5 is a graph showing output containing a noise of a lateralacceleration sensor.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

An implementation mode of the present invention will be explained basedon an embodiment of the present invention shown in the accompanyingdrawings hereinafter.

FIG. 1 to FIG. 5 show an embodiment of the present invention. FIG. 1 isa front view of a suspension system of a vehicle, FIG. 2 is an enlargedsectional view of a adjustable damping force, FIG. 3 is a flowchart ofan damping force control of the damper, FIG. 4 is a map used to search atarget current based on a damper speed and a target damping force, andFIG. 5 is a graph showing an output containing a noise of a lateralacceleration sensor.

As shown in FIG. 1, a suspension system S that suspends a wheel W of afour-wheel vehicle includes a suspension arm 13 for supporting a knuckle12 vertically movably onto a vehicle body 11, a adjustable damping force14 for connecting the suspension arm 13 and the vehicle body 11, and acoil spring 15 for connecting the suspension arm 13 and the vehicle body11. A signal from a sprung acceleration sensor Sa for sensing sprungacceleration, a signal from a damper displacement sensor Sb for sensingdisplacement (stroke) of the damper 14, a signal from a lateralacceleration sensor Sc for sensing the lateral acceleration of thevehicle, and a signal from a vehicle vehicular speed sensor Sd forsensing vehicle speed are input into an electronic control unit U thatcontrols damping force of the damper 14.

As shown in FIG. 2, the damper 14 has a cylinder 21 whose lower end isconnected to the suspension arm 13, a piston 22 fitted slidably into thecylinder 21, a piston rod 23 extended upward from the piston 22 to passthrough an upper wall of the cylinder 21 and connect its upper end tothe vehicle body, and a free piston 24 fitted slidably into a bottomportion of the cylinder. An upper-side first fluid chamber 25 and alower-side second fluid chamber 26 are partitioned by the piston 22 inthe cylinder 21, and also a gas chamber 27 into which a compressed gasis sealed is partitioned under the free piston 24.

A plurality of fluid passages 22 a . . . are formed in the piston 22 tocause an upper surface and a lower surface to communicate with eachother, and the first and second fluid chambers 25, 26 are communicatedmutually via these the fluid passages 22 a . . . . Themagneto-rheological fluids sealed in the first and second fluid chambers25, 26 and the fluid passages 22 a . . . is constituted by dispersingfine grains of the magnetic material such as iron powders into theviscous fluid such as oil. The magneto-rheological fluids has such aproperty that, when a magnetic field is applied, the fine grains of themagnetic material are aligned along lines of magnetic force and thus theviscous fluid is hard to flow to yield an increase in an apparentviscosity. A coil 28 is provided to an inside of the piston, and acurrent supply to the coil 28 is controlled by the electronic controlunit U. When current is supplied to the coil 28, magnetic fluxes aregenerated as indicated with an arrow shown in FIG. 2 and then theviscosity of the magneto-rheological fluids is changed by the magneticfluxes passing through the fluid passages 22 a. . . .

When the damper 14 is contracted and then the piston 22 moves downwardin the cylinder 21, a volume of the first fluid chamber 25 is increasedbut a volume of the second fluid chamber 26 is decreased. Therefore, themagneto-rheological fluids in the second fluid chamber 26 flows into thefirst fluid chamber 25 to pass through the fluid passages 22 a . . . inthe piston 22. On the contrary, when the damper 14 is expanded and thenthe piston 22 moves upward in the cylinder 21, a volume of the secondfluid chamber 26 is increased but a volume of the first fluid chamber 25is decreased. Therefore, the magneto-rheological fluids in the firstfluid chamber 25 flows into the second fluid chamber 26 to pass throughthe fluid passages 22 a . . . in the piston 22. At that time, the damper14 generates an damping force by a viscous resistance of themagneto-rheological fluids passing through the fluid passages 22 a. . ..

At this time, when a magnetic field is generated by supplying a currentto the coil 28, an apparent viscosity of the magneto-rheological fluidsthat pass through the fluid passages 22 a . . . in the piston 22 isincreased, and thus the fluids are hard to pass through the fluidpassage 22 a . . . . Therefore, an damping force of the damper 14 isincreased. An amount of increase in this damping force can be controlledfreely by amplitude of a current that is supplied to the coil 28.

In this case, when a volume of the second fluid chamber 26 is decreasedbecause an impulsive compressive load is applied to the damper 14, thefree piston 24 is moved downward while causing the gas chamber 27 tocontract, so that an impact can be absorbed. Conversely, when a volumeof the second fluid chamber 26 is increased because an impulsive tensileload is applied to the damper 14, the free piston 24 is moved upwardwhile causing the gas chamber 27 to expand, so that an impact can beabsorbed. In addition, when a volume of the piston rod 23 fitted in thecylinder 21 is increased because the piston 22 is moved downward, thefree piston 24 is moved downward to absorb an amount of increase in thevolume.

Then, the electronic control unit U controls individually an dampingforce of four dampers 14 . . . of respective wheels W . . . in totalbased on a sprung acceleration sensed by the sprung acceleration sensorSa, a damper displacement sensed by the damper displacement sensor Sb,and a lateral acceleration sensed by a lateral acceleration sensor Sc(or a speed sensed by a vehicular speed sensor Sd) Accordingly, theelectronic control unit U executes selectively the ride control such asthe skyhook control, which enhances a riding feeling by suppressing themotion of the vehicle when such vehicle gets over unevenness on a roadsurface, or the like and the driving stability control, which suppressesa rolling caused at a time of the vehicle turning and a pitching causedat a time of rapid acceleration or rapid deceleration, in response tothe driving condition of the vehicle.

In FIG. 3, a flowchart explaining an action of the driving stabilitycontrol to suppress the rolling by enhancing damping force of thedampers 14 . . . when the vehicle turns is shown.

First, in step S1, a lateral acceleration derivative dYG/dt iscalculated by differentiating a lateral acceleration YG sensed by thelateral acceleration sensor Sc with respect to time. Then, targetdamping force Ft to be generated in the damper 14 is calculated bymultiplying the lateral acceleration derivative dYG/dt by gain Gain.Then, in step S2, a damper speed Vp is calculated by differentiatingdamper displacement sensed by the damper displacement sensor Sb withrespect to time. Then, in step S3, target current is searched byapplying the target damping force Ft and the damper speed Vp to a map inFIG. 4. Then, in step S4, the target current is supplied to the coil ofthe damper 14 to generate the target damping force Ft. Thus, the drivingstability performance can be improved by suppressing the rolling of thevehicle.

FIG. 4 is a map used to search the target current based on the targetdamping force Ft and the damper speed VP. When the damper speed Vp isconstant, the target current is increased as the target damping force Ftis increased. In contrast, when the target damping force Ft is constant,the target current is decreased as the damper speed Vp is increased.

FIG. 5 shows a waveform of the lateral acceleration YG that the lateralacceleration sensor Sc outputs when the vehicle makes a lane change fromone lane of two adjacent lanes to the other lane and then makes a lanechange from the other lane to one lane once again. Here, two sinusoidalcurve-like waves each having one period can be observed. Theses wavescorrespond to one lane change respectively, and an area in which thelateral acceleration YG is almost 0 corresponds to a situation that thevehicle is going straight on. A high-frequency noise is superposed onthe waveform of the lateral acceleration YG that the lateralacceleration sensor Sc outputs. Theoretically a value of the lateralacceleration YG could have a constant value 0 when the vehicle runsstraight, and the lateral acceleration derivative dYG/dt obtained bydifferentiating the lateral acceleration YG with respect to time couldalso have a constant value 0. However, actually the lateral accelerationderivative dYG/dt does not become 0 due to the influence of noise, andthe target damping force Ft obtained by multiplying the lateralacceleration derivative dYG/dt by the gain Gain also does not become 0.Thus, predetermined value corresponding to the noise is output.

In a case where the target current is searched based on the targetdamping force Ft and the damper speed Vp by using a map in FIG. 4, onlywhen the target damping force Ft is slightly changed if the conventionalcharacteristics indicated by a broken line, value of the target currentis largely changed in an area where the damper speed Vp is small. Forexample, in case the damper speed Vp is 0 m/s, the target current ischanged from 1 A to 6 A when the target damping force Ft is changedsimply from 100 N to 500 N. In contrast, in case the damper speed Vp is0.04 m/s, the target current is changed simply from 1 A to 2 A even whenthe target damping force Ft is changed from 130 N to 1000 N.

Therefore, in the area where the damper speed Vp is small, the targetcurrent is changed largely only when the target damping force Ft ischanged slightly because of the influence of noise. It is possible thatan damping force of the damper 14 cannot be exactly controlled. Inaddition, when the target damping force Ft is changed in a short periodbecause of the influence of noise, an damping force generated by thedamper 14 is also changed in a short period. Therefore, there is theproblem that the noise generated in switching the damping force of thedamper 14 is increased.

Therefore, in the present embodiment, the target damping force Ftcorresponding to the target current is set to predetermined value thatis higher than the proper value indicated by a broken line (see a solidline) in the area where the damper speed Vp is lower than a minimumspeed (in the embodiment, 0.014 m/s) in FIG. 4. According to thissetting, it can be prevented that the target current is largely changedcorrespondingly even when the target damping force Ft is changed due tothe influence of noise, and it can be prevented that the drivingstability control cannot be exactly executed because the damping forceof the damper 14 is unnecessarily varied during the straight running ofthe vehicle, and also generation of the noise to switch the dampingforce of the damper 14 can be suppressed to the lowest minimum.

In this case, the ride control applied when the above driving stabilitycontrol is not executed is the well-known skyhook control. The dampers14 . . . are controlled to increase the damping force when the sprungspeed (the upward direction is positive) and the damper speed (theexpanding direction is positive) are in the same direction, while thedampers 14 . . . are controlled to decrease the damping force when thesprung speed and the damper speed are in the opposite direction. Thesprung speed can be obtained by integrating the sprung accelerationsensed by the sprung acceleration sensor Sa, and the damper speed can beobtained by differentiating a damper displacement sensed by the damperdisplacement sensor Sb.

With the above, the embodiment of the present invention is explained.But various changes of design can be applied to the present inventionwithin a scope that does not depart from a gist of the invention.

For example, in the embodiment, the minimum speed of the damper speed Vpused to change the characteristics of the map, which is used to searchthe target current based on the damper speed Vp and the target dampingforce Ft, is set to 0.014 m/s. But the value of the minimum speed may bevaried appropriately.

Also, in the embodiment, the driving stability control that suppressesthe rolling of the vehicle based on the lateral acceleration derivativedYG/dt obtained by differentiating the lateral acceleration YG that issensed by the lateral acceleration sensor Sc with respect to time isexplained. But the present invention can also be applied to the drivingstability control that suppresses the pitching of the vehicle based onthe longitudinal acceleration derivative dXG/dt that is obtained bysecond differentiating the speed sensed by the vehicular speed sensor Sdwith respect to time.

For example, in the embodiment, an damping force of the damper 14 . . .is adjustably controlled by using the magneto-rheological fluids. But anapproach of variably controlling an damping force can be chosen freely.

While there has been described in connection with the preferredembodiments of the present invention, it will be obvious to thoseskilled in the art that various changes and modification may be madetherein without departing from the present invention, and it is aimed,therefore, to cover in the appended claim all such changes andmodifications as fall within the true spirit and scope of the presentinvention.

1. A control system for an adjustable damping force, comprising: adamper provided on a suspension apparatus of a vehicle; a damper speedsensor detecting speed of the damper; a moving condition sensordetecting moving condition of the vehicle; and a control unitdetermining target damping force in accordance with the movingcondition, determining control parameter based the damper speed and thetarget damping force by using a map, and outputting the controlparameter so as to adjust damping force of the damper, wherein the mapis set so as to satisfy following conditions to thereby perform stablecontrol of the damping force when the damper speed is not more than apredetermined value: when the damper speed is constant value and is notmore than the predetermined value, the control parameter is increasedwith gradient A as the target damping force is increased; when thedamper speed is constant value and is more than the predetermined value,the control parameter is increased with gradient B as the target dampingforce is increased, wherein the gradient A is larger than the gradientB; and when the target damping force is constant, the control parameteris decreased as the damper speed is increased.
 2. The control system asset forth in claim 1, wherein the map is set in such a manner that whenthe damper speed is not more than the predetermined value, the controlparameter depends on the target damping force and the control parameterdoes not depend on the damper speed.
 3. The control system as set forthin claim 1, wherein the gradient A and B are positive values.
 4. Thecontrol system as set forth in claim 1, wherein the gradient A and B arevariable relative to the damper speed and / or the target damping force.5. A control method for controlling damping force of a damper providedon a suspension apparatus of a vehicle, comprising the steps of:determining target damping force based on a moving condition of avehicle; detecting damper speed; determining control parameter of thedamper based on the damper speed and the target damping force by using amap so as to adjust the damping force of the damper; and outputting thedamping force to the damper, wherein the map is set so as to satisfyfollowing conditions to thereby perform stable control of the dampingforce when the damper speed is not more than a predetermined value: whenthe damper speed is constant value and is not more than thepredetermined value, the control parameter is increased with gradient Aas the target damping force is increased; when the damper speed isconstant value and is more than the predetermined value, the controlparameter is increased with gradient B as the target damping force isincreased, wherein the gradient A is larger than the gradient B; andwhen the target damping force is constant, the control parameter isdecreased as the damper speed is increased.
 6. The control method as setforth in claim 5, wherein the map is set in such a manner that when thedamper speed is not more than the predetermined value, the controlparameter depends on the target damping force and the control parameterdoes not depend on the damper speed.
 7. The control system as set forthin claim 5, wherein the gradient A and B are positive values.
 8. Thecontrol system as set forth in claim 5, wherein the gradient A and B arevariable relative to the damper speed and / or the target damping force.